﻿using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

using WrapperDll;

namespace TestApp
{
  class Program
  {
    static void Main(string[] args)
    {
        WrapperCrane crane = new WrapperCrane();

        crane.LoadTrajFile("GEL401_Traj_valid_facile.bin");
        
        float[][] traj;
        int size;
        crane.GetTrajBuffer(out traj, out size);

        //int test = crane.LoadCompFile("C:\Users\Simon\Documents\My Dropbox\Gruelicious\Code\WrapperDll\TestApp\bin\Debug\controller.ini");

        WrapperCompParamdef cpd = new WrapperCompParamdef();
	    cpd.kb = 10;
	    cpd.ka = 20;
	    cpd.typeR = 30;

        cpd.numXBeta = new float[3];
        cpd.denXBeta = new float[3];
        cpd.pidXBeta = new float[3];
        cpd.numYAlpha = new float[3];
        cpd.denYAlpha = new float[3];
        cpd.pidYAlpha = new float[3];
        cpd.numR = new float[3];
        cpd.denR = new float[3];
        cpd.pidR = new float[3];
        crane.SetComp(cpd);

        WrapperCompParamdef comp = crane.GetComp();

    }
  }
}
